Detailed Description

template<class FACTOR_TYPE>
class gtsam::GenericGraduatedFactor< FACTOR_TYPE >

Instantiation of Graduated Factor wrapping any Nonlinear Factor.

Inheritance diagram for gtsam::GenericGraduatedFactor< FACTOR_TYPE >:

Public Member Functions
Factor Interface
template<class... Args>
	GenericGraduatedFactor (RobustLoss::shared_ptr loss, GraduationScheduler::shared_ptr scheduler, Args &&... args)
	Constructor.
	GenericGraduatedFactor (const GenericGraduatedFactor< FACTOR_TYPE > &other)
	Copy Constructor Delegates to GraduatedFactor's copy constructor so the copy preserves the current graduation progress (mu) rather than resetting it to muInit.
NonlinearFactor::shared_ptr	clone () const override
	Makes a deep copy of the factor.
GaussianFactor::shared_ptr	linearizeGraduated (const Values &currentEstimate) const override
	Linearizes the factor using the current value of mu.
GaussianFactor::shared_ptr	linearize (const Values &currentEstimate) const override
	Linearize the System.
double	error (const Values &values) const override
	Returns the graduated robust loss \rho_\mu(r).
Graduated Interface
See GraduatedFactor::residual
double	residual (const Values &currentEstimate) const override
	returns the residual of the factor
double	robustLoss (const Values &currentEstimate) const override
	See GraduatedFactor::robustLoss.
NonlinearFactor::shared_ptr	cloneUngraduated () const override
	See GraduatedFactor::cloneUngraduated.
Public Member Functions inherited from gtsam::GraduatedFactor
	GraduatedFactor (RobustLoss::shared_ptr loss, GraduationScheduler::shared_ptr scheduler)
	Constructor.
	GraduatedFactor (const GraduatedFactor &other)
	Copy constructor.
const RobustLoss::shared_ptr &	loss () const
	Returns the robust loss for this graduated factor.
const GraduationScheduler::shared_ptr &	scheduler () const
	Returns the graduation scheduler for this factor.

Public Types
Types
typedef std::shared_ptr< GenericGraduatedFactor< FACTOR_TYPE > >	shared_ptr
Public Types inherited from gtsam::GraduatedFactor
typedef std::shared_ptr< GraduatedFactor >	shared_ptr
typedef noiseModel::mEstimator::Base	RobustLoss

Additional Inherited Members
Protected Attributes inherited from gtsam::GraduatedFactor
RobustLoss::shared_ptr	robustLoss_
	The robust loss for this factor.
GraduationScheduler::shared_ptr	scheduler_
	The control param ($\mu$) scheduler for this factor.
std::shared_ptr< double >	mu_
	The unique mu control parameter for this factor.

Constructor & Destructor Documentation

◆ GenericGraduatedFactor()

template<class FACTOR_TYPE>

template<class... Args>

gtsam::GenericGraduatedFactor< FACTOR_TYPE >::GenericGraduatedFactor	(	RobustLoss::shared_ptr	loss,
		GraduationScheduler::shared_ptr	scheduler,
		Args &&...	args )

inline

Constructor.

Parameters

args	The arguments required to construct the FACTOR_TYPE
loss	The graduated robust loss applied to this factor
scheduler	The control param $\mu$ scheduler for this factor